Transcript GIT SysML Parametrics Work - Georgia Institute of Technology

GIT Product & System Lifecycle Management (PSLM) Center
www.pslm.gatech.edu
GIT SysML Parametrics Work
[email protected]
Presenter
[email protected]
[email protected]
Presentation to
OMG Systems Engineering
Domain-Specific Interest Group (SE DSIG)
September 13, 2005
Atlanta
v2
Example SysML-based Simulation Models
Space systems - FireSat satellite
Hydraulics & system dynamics
Mechanical CAD & CAE
Simulation building blocks
Electrical/mechanical CAD & CAE
Diverse interconnected models
at ~6 levels of system decomposition
and ~7 levels of abstraction ...
For further context, see other GIT presentation to OMG SE DSIG Sept 13, 2005
http://eislab.gatech.edu/pubs/seminars-etc/2005-09-omg-se-dsig-peak/
Copyright © 2005
Note: The SysML notation used in these slides roughly corresponds to SysML draft v0.9 plus more recent updates and experimental variations.
We intend to update these examples with the final official notation when v1.0 that becomes available.
2
FireSat
Satellite System Schematic
Source: Larson WJ and Wertz JR ed. (1999) Space Mission Analysis and Design (SMAD), 3rd Ed. Microcosm, Inc. ]
Copyright © 2005
3
Space Mission
Analysis & Design
(SMAD) Process
Source: Larson WJ and Wertz JR ed. (1999)
Space Mission Analysis and Design (SMAD), 3rd Ed. Microcosm, Inc. ]
Copyright © 2005
4
FireSat system design as COB-based SysML parametric diagrams (conceptual draft)
a. FireSat top-level system design
FireSat : Satellite Space System
spacecraft internal subsystems (ssi)
key system parameters
for total spacecraft (sc)
tt&c ss
adc ss
: ADC System
: TT&C Sys
sc orbit
sc orbit
: Circular Orbit
…
earth equatorial
radius (Re)
= 6378 m
altitude (Ra)
= 700 m
mass
sc mass
properties
mass
sc slew
power
power
c&dh ss
: C&DH Sys.
total radius (Ra)
= 7078 m
structures ss
Ra = Re + Ra
: Structures Sys
sc mass
properties
: Mass Properties
…
Iy = 60 kg-m2
Iz = 90 kg-m2
…
M = 215 kg
Ix = 90 kg-m2
mass
…
sc mass properties
power
mass
power ss
power
: Power System
M =  mi
mass
…
guidance & navigation ss
power
: Guid. & Navig.
Sys.
slew
normal = 1 deg
thermal ss
: Thermal Sys.
…
…
optional target-ofopportunity = 30 deg
mass
power
mass
…
power
Nomenclature
ADC: Attitude Determination, and Control
TT&C: Telemetry, Tracking, and Command
C&DH: Command and Data Handling
related external subsystems
propulsion system
: Propulsion Sys.
SC: Spacecraft
sc orbit
Sys: System
sc mass
…
…
SS: Subsystem
5
Based on FireSat data contained in SMAD Chapter 11 etc. Larson WJ and Wertz JR ed. (1999) Space Mission Analysis and Design (SMAD), 3rd Ed. Microcosm, Inc. ]
© 2005 Georgia Tech
Contact: [email protected] Version: 2005-09-14
FireSat system design as COB-based SysML parametric diagrams (conceptual draft)
b. FireSat ADC subsystem design (initial subsystem sizing, etc.)
FireSat.adc ss : Attitude Determination and Control System
sc mass properties
sc orbit
momentum wheel ss
: Circular Orbit
: Momentum Wheel
System
mass
…
M = 215 kg
Ix = 90 kg-m2
Iy = 60 kg-m2
power
sun sensors ss
Iz = 90 kg-m2
: Sun Sensors System
plus similar
subsystem connections
as shown for
electromagnetics ss
…
power
slew
power
horizontal sensors ss
Iz
normal = 1 deg
Iy
: Horizontal Sensors
System
R
mass
gravity gradient
disturbance torque equation
Tg = (3/2R3) |Iz – Iy| sin(2)
sc disturbances torques
power
thrusters ss
: Disturbances Torques
electromagnetics ss
gravity gradient
torques
: Magnetic Torquers Sys
Tg, max
= 4.4e-5 Nm
mass
= 2 kg
solar radiation
mass
power
roll controller
yaw controller
pitch wheel
desaturator
current drive
electronics
magnetometer ss
: Magnetometer System
mass
power
© 2005 Georgia Tech
Contact: [email protected] Version: 2005-09-14
…
…
maximum Tg
equation
Tg, max = max (Tg, i)
power
= 5-10 W
torquer rating
= 10 A.m2
: Thrusters System
…
normal = 1.8e-6 Nm
optional target-of-opportunity
= 4.4e-5 Nm
…
slew () earth gravity
constant ()
Tg
optional target-of-opportunity
= 30 deg
magnetic field
mass
…
mass
…
total radius (Ra)
= 7078 m
: Mass Properties
6
FireSat system design as COB-based SysML parametric diagrams (conceptual draft)
c. FireSat magnetic torquer subsystem design (initial subsystem sizing, etc.)
FireSat.adc ss.electromagnetics ss : Magnetic Torquer System
margin
= 0.1e-5 Nm
current drive electronics ss
: Current Drive
Electronics System
…
See conceptual breakdown to
leaf-level domain design/analysis
ECAD and MCAE analysis
Tg, max
= 4.4e-5 Nm
margin eqn.
power
mass
roll controller ss
: Magnetic Torquer
Tg, worst case (wc) max
= 4.5e-5 Nm
magnetic dipole eqn.
Tg, wc max
B
D = Tg, wc max / B
mass = 2 kg
mass eqn.
D
rating, Dr
mass
power = 5-10 W
power
magnetic dipole,
D = 1 A.m2
Dr
power eqn.
pitch wheel desaturator ss
yaw controller ss
: Magnetic Torquer
: Magnetic Torquer
mass
power
power
rating, Dr
…
…
rating, Dr
mass
D
magnetic dipole rating
rule-of-thumb eqn.
torquer rating,
Dr = 10 A.m2
7
© 2005 Georgia Tech
Contact: [email protected] Version: 2005-09-14
Circuit Board Design-Analysis Integration
Electronic Packaging Examples: PWA/B
Design Tools
y
mv6
reference temperature, To
E
T  T L To
A
ts1
ts2

s
Sleeve 1
Shaft
Sleeve 2
smv1
ds1
force, F
area, A
ECAD Tools
Mentor Graphics,
Zuken, …
A
r4
F
A
Leff
linkage

mv4
L
F
E, A, 
T, ,  x
One D Linear
Elastic Model
(no shear)
mv5
sr1
temperature, T
L
Lo
F
material model
youngs modulus, E
cte, 
ds2
e
T
t


elastic strain, e
mv2
thermal strain, t
mv3
strain,
mv1
effective length, Leff
r2
undeformed length, Lo
start, x1
end, x2
cross section:
effective ring
L  L  Lo
condition
r1
L  x2  x1
material

polar moment of inertia, J
L
r3 ro
outer radius,
L
linear elastic model
Margin of Safety
(> case)
allowable
al3
total elongation,L
length, L
allowable stress
twist mos model
al2a
al2b
shear modulus, G
reaction
deformation model
Torsional Rod
stress,al1

temperature change,T
mode: shaft torsion
Lo

Modular, Reusable
Template Libraries
1
2
J
r

G

T
stress mos model
allowable
twist
Margin of Safety
(> case)
allowable
actual
actual
MS
MS
STEP AP210‡
GenCAM**,
PDIF*
PWB Stackup Tool
XaiTools PWA-B
Analysis Modules (CBAMs)
of Diverse Mode & Fidelity
Analyzable
Product Model
XaiTools
PWA-B
Solder Joint 1D,
Deformation* 2D,
3D
XaiTools Analysis Tools
PWA-B
General Math
Mathematica
FEA Ansys
PWB
Extension
PWB
Warpage 1D,
2D
Laminates DB
Materials DB
‡ AP210 WD48
* = Item not yet available in toolkit (all others have working examples)
PTH
1D,
Deformation 2D
& Fatigue**
** = Item available via U-Engineer.com
8
Circuit Board Analysis Model Structure
requirement
verify
9
Simulation Template: Circuit Board Warpage
SysML Parametric Diagram
Envisioned sample tool scenarios ...
PWB design
(AP210-based
design model from
Mentor Expedition)
Requirements
FEA model
(UGS TcR)
(Ansys)
10
Simulation Building Block: 1D Linear Elastic Model
SysML parametric diagram
asm : 1D Linear Elastic Material Model Parametric
Assembly Diagram
1D_ linear_elastic_model
«paramConstraint»
r1 : relation1
shear_stress

E
shear_modulus
G
«paramConstraint»
r2 : relation2
poissons_ratio

thermal_strain
t
E
G
2(1  )
cte
e
«paramConstraint»
r3 : relation3
temperature_change
T


  G
youngs_modulus

shear_strain
 t  T
«paramConstraint»
r4 : relation4
stress
name
e 

E

elastic_strain
«paramConstraint»
r5 : relation5
strain
  e  t
11
Contents
Space systems - FireSat satellite
Hydraulics & system dynamics
Mechanical CAD & CAE
Simulation building blocks
Electrical/mechanical CAD & CAE
Copyright © 2005
12
SRL
Modeling Hydraulic Systems
Behavior Using SysML
Presented to:
Dr. Gary May & Dr. Chris Paredis
By:
Arnaldo J. Colón-López
Universidad del Turabo, P.R.
Mechanical Engineering
Fifth Year
August 3, 2005
SRL
Overview







Motivation & Objectives
What is SysML?
HAL System Overview
Approach
Results
Conclusions
Summary
14
SRL
Motivation & Objectives

How can we support the simulation of system models?







Save the knowledge about the model in a standard language
Create the model once, then reuse rather than recreate the model
System Engineers need a standard language to facilitate
systems design through the use of reference libraries in
SysML.
Generate reference and simulation library of components.
Create system simulations automatically from
configurations of reference models.
Make links to simulation models
Save money, time and effort
15
SRL
System Modeling Language
“SysML”




SysML is a profile and extension
of the Unified Modeling
Language.
Supports the verification and
analysis of complex systems.
Improves the ability to exchange
systems engineering information
amongst tools
Focuses on engineering systems.
16
SRL
HAL System Overview





The Hydraulic Actuated Lifter was
designed and build in the Intelligent
Machine Dynamics Laboratory at
Georgia Tech.
HAL was designed by two IMDL
students,
Mimics a forklift truck.
Primary purpose is to serve as an
educational tool.
HAL is constrained by a linear track
for safety reasons.
17
SRL
Approach







Learn about SysML
Develop the hydraulic components
library.
Describe the HAL system using the
SysML tools.
Find the best diagram for the system
behavior representation.
Generate the links for the simulation
and reference models.
Build the simulation using the Dymola
Software.
Test the entire design process.
18
SRL
Results
19
SRL
Hydraulic Libraries
20
SRL
HAL System Structure
Diagram
21
SRL
HAL System Component
Diagram
22
SRL
Reference & Simulation
Models
Reference Model
Simulation Model
23
SRL
Hydraulic Circuit Simulation
24
SRL
Simulation Results
9E6
motor.port_A.p
motor.port_B.p
8E6
7E6
0.0000
ReliefValve
flow rate through port[m3/s]
-0.0002
6E6
pressure at port [Pa]
flow Source.port_B.q
flow Source.IFS.port_B.q
reliefValve2.port_B.q
motor.port_B.q
Motor
5E6
4E6
3E6
2E6
1E6
-0.0004
0E0
-1E6
0.0
Motor
-0.0006
0.2
0.4
0.6
0.8
1.0
time [s]
140
Inertia1.w - Absolute angular velocity of component [rad/s]
Inertia1.flange_b.tau - Cut torque in the flange [N.m]
120
-0.0008
Torque
100
Pump
80
-0.0010
0.0
Ideal FlowSource
0.2
0.4
0.6
0.8
60
1.0
Angular Velocity
40
time [s]
20
0
-20
0.0
0.2
0.4
0.6
0.8
1.0
time [s]
25
SRL
Conclusions

SysML is a good language for defining
reference models.



SysML defines the relation between the
reference and simulation models once
Reuse the reference model often
Saves time & resources.
26
SRL
Summary




SysML is a profile and extension of Unified
Modeling Language.
SysML was used to provide a standard
modeling language for systems engineering to
analyze the HAL System.
Main SysML Diagrams are: Parametric, Class
and Structure diagrams.
Artisan Real-Time Studio with SysML supports
the representation of system behavior.
27
SRL
Acknowledgements

Dr. Gary May


Dr. Chris Paredis



My SURE Program Mentor & Ph.D Student
Cleon Davis –


Research Scientist @ IBM
Cornelius Ejimofor


Ph.D Student
Sai Zeng


My SURE Program Advisor
Dr. Bruce Powel Douglas
Manas Bajaj


SURE Program Director
SURE Program Coordinator
2005 SURE Interns
28
Contents
Space systems - FireSat satellite
Hydraulics & system dynamics
Mechanical CAD & CAE
Simulation building blocks
Electrical/mechanical CAD & CAE
Diverse interconnected models
at ~6 levels of system decomposition
and ~7 levels of abstraction ...
For more examples, see presentation & webcast archive available at:
http://eislab.gatech.edu/pubs/conferences/2005-pde-peak/
Copyright © 2005
For simulation template architecture & methodology, see:
http://eislab.gatech.edu/pubs/seminars-etc/2005-cpda-dsfw-peak/
29